NORD Drivesystems BU0260 User Manual
Page 49
4 Commissioning
BU 0260 GB
Subject to technical amendments
49
4.9.1
Predefined Connection Set
The bus module is equipped with 5 Transmit and Receive PDOs and 4 SDO channels.
The Predefined Connection Set of the CANopen standard DS301 does not provide so many PDO and SDO
channels. Therefore there is a danger of address conflicts with devices which use the Predefined Connection
set defined in DS301. In order to keep this danger as small as possible, the additional channels are divided
into the address space (Node-ID) 64 to 127.
The following table contains the Predefined Connection Set for the bus modules SK xU4-CAO-... . With these
default settings (see also parameter (P161) “COB-ID” and (P160) for the validity of the COB-ID) an exchange
of process data to all 4 frequency inverters connected to the system bus (Gateway Mode) is possible.
In order to implement communication via SDOs, the relevant arrays must be enabled in parameter (P160).
Object
Availability
COB-ID
Accessed FI
NMT
Enabled
0
FI 1, FI 2, FI 3, FI 4 and bus module
SYNC
Enabled
0x80
FI 1, FI 2, FI 3, FI 4 and bus module
EMERGENCY
Enabled
0x80 + Address
FI 1, FI 2, FI 3, FI 4 and bus module
PDO1 (Tx)
Enabled
0x180 + Address
FI 1
PDO1 (Rx)
Enabled
0x200 + Address
FI 1
PDO2 (Tx)
Enabled
0x280 + Address
FI 2
PDO1 (Rx)
Enabled
0x300 + Address
FI 2
PDO3 (Tx)
Enabled
0x380 + Address
FI 3
PDO3 (Rx)
Enabled
0x400 + Address
FI 3
PDO4 (Tx)
Enabled
0x480 + Address
FI 4
PDO4 (Rx)
Enabled
0x500 + Address
FI 4
PDO5 (Tx)
Disabled
0x1C0 + Address
Bus module
PDO5 (Rx)
Disabled
0x240 + Address
Bus module
SDO1 (Tx)
Enabled
0x580 + Address
FI 1, bus module
SDO1 (Rx)
Enabled
0x600 + Address
FI 1, bus module
SDO2 (Tx)
Disabled
0x2C0 + Address
FI 2
SDO2 (Rx)
Disabled
0x340 + Address
FI 2
SDO3 (Tx)
Disabled
0x3C0 + Address
FI 3
SDO3 (Rx)
Disabled
0x440 + Address
FI 3
SDO4 (Tx)
Disabled
0x4C0 + Address
FI 4
SDO4 (Rx)
Disabled
0x540 + Address
FI 4
NMT Error Control
Enabled
FI 1, FI 2, FI 3, FI 4 and bus module
ATTENTION
For devices from other manufacturers, CAN addresses (Node-ID) higher than 64 should be
used with caution, as they could be occupied by CANopen bus modules:
Additionally occupied Node-ID = Node-ID (bus module) + 64.